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<div class="title">D:/Workspace/Arduino/prencar/LineFollow.h</div>  </div>
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<a href="_line_follow_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef LineFollow_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define LineFollow_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;<a class="code" href="_communication_8h.html">Communication.h</a>&quot;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00007"></a>00007 
<a name="l00008"></a><a class="code" href="class_line_follow.html">00008</a> <span class="keyword">class </span><a class="code" href="class_line_follow.html">LineFollow</a>
<a name="l00009"></a>00009 {
<a name="l00010"></a>00010 <span class="keyword">public</span>:
<a name="l00011"></a>00011   <a class="code" href="class_line_follow.html#ace2e49549627ad0682ed71e0be714086">LineFollow</a>();
<a name="l00012"></a>00012   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#afac0ad1ff185b7e5f9b47428cb2e5e48">begin</a>();
<a name="l00013"></a>00013   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#a93ff35747f2ae3bb26998f07243afc3c">doJob</a>();
<a name="l00014"></a>00014   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#a9db172747e4457a6b01f8d27ed41ac39" title="Calibrates the sensors.">calibrateSensors</a>();
<a name="l00015"></a><a class="code" href="class_line_follow.html#accb339a7a953d66032b9329a2b3a1b4d">00015</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_line_follow.html#accb339a7a953d66032b9329a2b3a1b4d" title="Is set to true, if the left curve line is reached.">hasReachedCurve</a>; 
<a name="l00016"></a>00016   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#a5f3e76e795bacff24be60b7f65d84d94">startIt</a>();
<a name="l00017"></a>00017 <span class="keyword">protected</span>:
<a name="l00018"></a><a class="code" href="class_line_follow.html#a6f7f1f6ff879d0ce76823b03844bfc9a">00018</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#a6f7f1f6ff879d0ce76823b03844bfc9a" title="Holds the minimum value that was measured during the calibration for &quot;white&quot;.">_calibrationSensorWhiteMin</a>; 
<a name="l00019"></a><a class="code" href="class_line_follow.html#a7b4f3695a0133e9ba170199ddb1bdde6">00019</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#a7b4f3695a0133e9ba170199ddb1bdde6" title="Holds the maximum value that was measured during the calibration for &quot;white&quot;.">_calibrationSensorWhiteMax</a>; 
<a name="l00020"></a><a class="code" href="class_line_follow.html#aeb722614b85d484aafe0714f9d319f3e">00020</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#aeb722614b85d484aafe0714f9d319f3e" title="Holds the minimum value that was measured during the calibration for &quot;black&quot;.">_calibrationSensorBlackMin</a>; 
<a name="l00021"></a><a class="code" href="class_line_follow.html#aaeea70b897deb0295401aa316189c2ba">00021</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#aaeea70b897deb0295401aa316189c2ba" title="Holds the maximum value that was measured during the calibration for &quot;black&quot;.">_calibrationSensorBlackMax</a>; 
<a name="l00022"></a>00022 
<a name="l00023"></a><a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718">00023</a>   <a class="code" href="class_communication.html">Communication</a>* <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>; 
<a name="l00024"></a><a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd">00024</a>   <a class="code" href="class_move.html">Move</a>* <a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd" title="The reference to the move class to control the motors.">_move</a>; 
<a name="l00025"></a><a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f">00025</a>   <a class="code" href="class_configuration.html">Configuration</a>* <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>; 
<a name="l00026"></a>00026 
<a name="l00027"></a>00027   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#a1e3bb3e01044c86e7ad87c632bac6634">readFrontLineSensors</a>(<span class="keywordtype">int</span>* resultArray);
<a name="l00028"></a>00028   <span class="keywordtype">void</span> <a class="code" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a>(<span class="keywordtype">int</span>* resultArray);
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="keyword">private</span>:
<a name="l00031"></a><a class="code" href="class_line_follow.html#a9c31b9a1c2d0627dcbfdb2af0bf7778e">00031</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_line_follow.html#a9c31b9a1c2d0627dcbfdb2af0bf7778e" title="Holds the timestamp of the time when the last line follow check was done.">_timeLastLineFollowCheck</a>; 
<a name="l00032"></a><a class="code" href="class_line_follow.html#a44ff5bd13460ce3d6737319c6d0023f0">00032</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#a44ff5bd13460ce3d6737319c6d0023f0">_deltasensor</a>; 
<a name="l00033"></a><a class="code" href="class_line_follow.html#ae28a165a4eaf1ab88fe0cab11e325ba7">00033</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#ae28a165a4eaf1ab88fe0cab11e325ba7">_sensoralt</a>; 
<a name="l00034"></a><a class="code" href="class_line_follow.html#aaef3837f6fd0ea4d69458dbe7a5ed54d">00034</a>   <span class="keywordtype">int</span> <a class="code" href="class_line_follow.html#aaef3837f6fd0ea4d69458dbe7a5ed54d">_deltaPWM</a>; 
<a name="l00035"></a>00035 };
<a name="l00036"></a>00036 <span class="preprocessor">#endif</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 
<a name="l00040"></a>00040 
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 
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